[chbot] The next steps for my bot and control board.

[Michael Pearce]

That is what I was planning to do as well.

1. calc time needed 0 to 1ms then add 1ms
   convert to timer compare value

2. start timer, set flag indicating port that was used

3. On interrupt
   a. check flag and turn that port off
      (Or turn them all off)
   b. stop timer
   c. clear int flag etc

mike  


On Friday 29 September 2006 21:16, Carl Ranson wrote:
> A low resolution is fine, 8 forward and 8 back.
>
> I would have imagined that the servo pulses could be
> easily done by setting the port high, kicking off a timer
> and then clearing it when the interrupt fires. Alternate
> betwen pins A and B or as many servo channels as you
> want.
>
> Im assuming you can fire timers as one off events like
> this but I haven't looked into it that closely.
>
> The 16F84 rs232 servo board I did ages ago had code like
> this. Instead of trying to manage all pulses at once, do
> one servo channel at a time and take advantage of the
> fact that the period of the pulse is a LOT more important
> than the frequency they are repeated at.
>
> Michael Pearce wrote:
> >Hi Carl,
> >
> >I will be writing both Serial and RC Servo control
> > functions as I will need the same for my R2 unit.
> >
> >My servos arrive early next week, so cannot test until
> > then.
> >
> >Both functions may be interrupt driven (Not sure how the
> >RTOS handles interrupts)
> >
> >Any particular ports you want to use for the rc servo
> >pulses?
> >
> >Also what resolution are you looking for? 8/12/16 bit?
> >
> >Mike
> >
> >On Friday 29 September 2006 20:25, Carl Ranson wrote:
> >>Previously I was using the notebooks RS232 to talk to
> >> the motor controller directly but I have a layer of
> >> sensors to add. I only have one serial port available,
> >> so the plan is to put the dsPic board in the middle
> >> and have it do the motor control and sensor
> >> monitoring.
> >>
> >>I've got the RTOS and range sensors working so the next
> >>bit is to communicate with the pc and drive the motors.
> >>The motor controller can talk serial comms or rc servo
> >>pulses, so I figured i'd use servo pulses to drive the
> >>motors and let the dsPic use its uart for the 232.
> >>
> >>Anyone got some code or exmaples to get me started?
> >>(Mike, I'm looking in your direction)
> >>Cheers all.
> >>CR
> >>
> >>
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